US8082083B2 - Method to control the vibrations in an articulated arm for pumping concrete, and relative device - Google Patents

Method to control the vibrations in an articulated arm for pumping concrete, and relative device Download PDF

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US8082083B2
US8082083B2 US12/403,920 US40392009A US8082083B2 US 8082083 B2 US8082083 B2 US 8082083B2 US 40392009 A US40392009 A US 40392009A US 8082083 B2 US8082083 B2 US 8082083B2
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arm
modal
segments
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US20090229457A1 (en
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Nicola Pirri
Paolo Dario Maini
Ferruccio Resta
Alessandro Tosi
Francesco Ripamonti
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    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/04—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack
    • B66C13/06—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads
    • B66C13/066—Auxiliary devices for controlling movements of suspended loads, or preventing cable slack for minimising or preventing longitudinal or transverse swinging of loads for minimising vibration of a boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/18—Control systems or devices
    • B66C13/40—Applications of devices for transmitting control pulses; Applications of remote control devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C23/00—Cranes comprising essentially a beam, boom, or triangular structure acting as a cantilever and mounted for translatory of swinging movements in vertical or horizontal planes or a combination of such movements, e.g. jib-cranes, derricks, tower cranes
    • E—FIXED CONSTRUCTIONS
    • E04—BUILDING
    • E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
    • E04G21/00—Preparing, conveying, or working-up building materials or building elements in situ; Other devices or measures for constructional work
    • E04G21/02—Conveying or working-up concrete or similar masses able to be heaped or cast
    • E04G21/04—Devices for both conveying and distributing
    • E04G21/0418—Devices for both conveying and distributing with distribution hose
    • E04G21/0445—Devices for both conveying and distributing with distribution hose with booms
    • E04G21/0454—Devices for both conveying and distributing with distribution hose with booms with boom vibration damper mechanisms

Definitions

  • the present invention concerns a method to control the vibrations in an articulated arm for pumping concrete, and the relative device.
  • the invention concerns an active control method used to reduce the vibrations to which the various segments of an articulated arm are subjected, the arm being used for pumping concrete in operating machines such as for example, pumps transported on trucks, concrete mixers or suchlike, whether they are mounted or not on trucks or trailers.
  • Heavy work vehicles are known, used in the building trade, normally consisting of a truck on which an extendible arm is mounted, and/or telescopically extendible, articulated to distribute and cast concrete.
  • the trucks may be equipped with concrete mixers or not.
  • Extendible arms of a known type consist of a plurality of segments pivoted to each other and foldable on each other, so as to be able to assume a folded configuration close to the truck, and a working configuration in which they are extended one with respect to the other and allow to reach areas very far from the truck.
  • the machine always has to act in transitory conditions between one placement and the next, or during its movement; this implies that its motion is continuously excited and dynamic variations are generated on the state of stress of the joints and in the material, which limits the working life of the machine and reduces safety for the operators.
  • a known device which has the function of damping the vibrations of an articulated arm is described in U.S. Pat. No. 7,143,682.
  • a compensation mechanism is provided, on the side of the drive system, to compensate a disturbance which has determined a movement of the arm with respect to the position envisaged: the disturbance may consist for example of the fluctuations in pressure at which the concrete is delivered.
  • U.S. Pat. No. '682 is specifically directed to the uncontrolled movements of the arm, or of one or more of its segments, that are generated during the phase of delivery of the concrete, particularly due to the cyclical loads to which the concrete distribution arm is subjected in the phase of delivery and which have the effect of making the entire arm perform a vibration motion.
  • this document does not provide to built and use a theoretical numerical model able to represent the condition of the arm and/or of its segments when it/they is/are subjected to the movement by the operator to move the arm in the position of delivery of the concrete before starting the concrete delivery step.
  • Purpose of the invention is therefore to obtain a perfected method of active control of the vibrations of an articulated arm, which allows to correct and compensate the vibrations.
  • the active control method for damping the vibrations of an articulated arm for pumping concrete bases its functioning logic on the fact that the main difficulty in implementing an active control consists substantially of two points:
  • Another point that is to be considered is that in order to dampen the vibrations in one specific point, for example the tip of the arm from which the concrete is delivered, is necessary to consider the contribution to the vibration of all the segments of the arms, including both the component due to the positioning movement imparted by the operator and the component due to the vibrations which are superimposed to the movement imparted by the operator.
  • a further point to be considered is that the present invention is aimed to control the vibrations in a specific point which can be located along the whole length of the arm, not only the final segment involved in the delivery of the concrete. In fact, the case may be, it can be necessary to control also an intermediate point of the arm, for example if the arm is introduced with a median part thereof inside a window, or the arm is moved near a tree, a building or the like.
  • the present invention substantially consists of an active control method and an electronic control device which performs said method, and which implement a control logic based on:
  • the aforesaid one or more instruments are configured to acquire data related to the behavior of the arm and of all of its segments along its whole length, not only in a specific end point thereof.
  • the control logic of the vibrations therefore acts by means of a feedback force which is added to the command given by the operator for the movement of the whole arm, if he intervenes during a command, or determining a compensation force also with the arm stationary during a pumping operation which itself causes vibrations.
  • the rigid movement (hereafter denominated “broad motion”) of the arms is in any case entrusted to the control of the operator, whereas the active control of the vibrations of the whole arm acts in the form of an additional command, which is superimposed to the command of the operator, with the task of damping the oscillations of the whole structure of the arm in order to make the whole arm moving following the theoretical movement commanded by the operator.
  • the main objective of the active control method according to the present invention is to contain the oscillations of the structure associated with the first modes of vibrating which mainly participate in the increase of the dynamic load.
  • the modes with higher frequency in fact, have a higher damping and therefore do not contribute appreciably to the motion.
  • the operation to damp the vibrations is made by using a control determined on the basis of a numerical model which is based, for its implementation and application, on a reference model written in the form of the modes of the structure (modal model).
  • the numerical modal model is constructed starting from experimental data or from structural models available to the designer.
  • the state variables which describe the system are no longer physical variables (displacements and speed) but modal variables, and represent the “measurement” of how much each mode of vibrating participates, also according to the broad motion imparted by manual control, in the overall motion of the arm.
  • This numerical modal model although formed by a limited number of degrees of freedom, in any case constitutes an optimum approximation of the complete numerical model, but is much simpler to manage from the point of view of the computational load.
  • the calculation is performed by setting the position of the poles of the system in the complex Gauss plane.
  • the objective is to increase the damping of the system (or the real part of the auto-values only).
  • the gains will be expressed as a function of the position assumed by the arm during the broad motion. For this reason they must be tabulated and registered in pre-memorized tables, and then introduced into the control system using a procedure of linearization in segments.
  • the electronic controller according to the position detected, interpolates the gains values memorized and uses these values in a feedback control logic between the reference state that coincides with the broad motion alone, due for example to the command by the operator (therefore without vibratory motions), and the current vibrations, which are described by the modal coordinates.
  • the gains thus calculated therefore multiply the difference between the reference modal coordinates (nil) and those measured (or estimated), and allow to determine the control forces to be applied, by means of the relative actuators, to the arm or to at least part of the relative segments.
  • the last step provides to evaluate the modal coordinates not directly measurable.
  • control system for this function the control system according to the invention provides to use a state estimator.
  • the modal coordinates cannot be traced back directly to any physical measurement, therefore they are not directly measurable.
  • the problem therefore arises of estimating the coordinates starting from the measurements available (accelerometers, strain gauges, elongations of the actuators, . . . ).
  • the estimator receives as input the measurements and the known forces acting on the real arm and supplies as output the estimate of the modal coordinates.
  • the estimator also works starting from the knowledge of the reduced modal model: inside it there are the matrixes which characterize the system, according to the position assumed.
  • the estimator compares the estimated measurements (calculated by multiplying the modal coordinates estimated by a suitable matrix, as will be seen better hereafter) with the real ones, then correcting the estimate so that it converges on the real values.
  • the correction is made by multiplying the difference between measurement and estimate by a suitable set of gains.
  • the gains can be determined by means of various and different methods; in order to calculate the gains, a preferential solution provides to adopt the “Kalman Filter” or other analogous or similar calculation method.
  • FIG. 1 is a schematic illustration of an operating machine with articulated arm for the distribution of concrete in which the control method according to the present invention is applied;
  • FIG. 2 is a block diagram of the control method according to the present invention.
  • FIG. 3 is a block diagram of the estimate step used in the control method according to the present invention.
  • FIG. 4 is a simplified block diagram of the logic of the method according to the present invention.
  • an extendible articulated arm 10 able to distribute concrete or analogous material for the building trade, is shown in its assembled position on a heavy work vehicle 11 , in its folded condition, for transport.
  • the heavy vehicle 11 comprises a driver's cabin 20 , and a supporting frame 21 on which the arm 10 is mounted.
  • the extendible arm 10 comprises a plurality of segments articulated, for example, in the embodiment shown, in six segments, respectively a first 12 , a second 13 , a third 14 , a fourth 15 , a fifth 16 and a sixth 17 , pivoted to each other at the respective ends.
  • the totality of the articulated segments 12 - 17 can be rotated, even up to 360°, with respect to the vertical axis of the vehicle 11 .
  • the first segment 12 is, in a known manner, pivoted to a turret 18 , and can be rotated with respect thereto by means of its own actuator.
  • the other segments 13 - 17 are sequentially pivoted to each other at respective ends and can be individually driven, by means of their own actuators, indicated in their entirety by the reference number 40 in the diagram in FIG. 4 , according to specific requirements.
  • FIG. 2 a block diagram is shown of the active control method to control the vibrations of the articulated arm 10 according to the present invention, using an electronic controller 25 and a state estimator 26 .
  • the method according to the invention provides a step of constructing a reduced numerical modal model 27 constructed starting from experimental data or from structural models available to the designer.
  • the reduced numerical modal model 27 constitutes an optimum approximation of the complete model, and is easy to manage from the point of view of the computational load.
  • a second step in the method provides to evaluate the gains of the states controller 25 through the reduced modal model (different for every configuration achieved by the machine during the broad motion), setting the position of the poles, indicated by the reference number 28 , of the system in the complex Gauss plane.
  • the objective is to increase the damping of the system.
  • the gains are expressed as a function of the actual position assumed by the articulated arm 10 during the broad motion, and according to the value of force 29 actually transmitted to the arm 10 by the operator, which force 29 is added to the feedback control values, as better explained hereafter, in an adder 30 .
  • the purpose of the control of the vibrations is to define the matrix of gains [G] which, starting from the state of the system, provides a feedback control action so as to limit said vibrations, following the logic diagram shown in FIG. 4 .
  • the matrix of gains [G] can be calculated using the calculation process described hereafter.
  • the electronic controller 25 During motion, the electronic controller 25 , as a function of the detected position of the arm 10 , or of its various segments, interpolates the values of gains memorized, and uses these values in a feedback control logic between the reference state q rif , which coincides with the broad motion only (therefore without vibratory motions) and the current vibrations q , which are described, however, by the modal coordinates.
  • the gains thus calculated therefore multiply the difference between the reference modal coordinates (nil) and those measured (or estimated), and allow to determine the control forces to be applied by means of the relative actuators, to the arm 10 , or to at least part of the relative segments.
  • the last step provides to evaluate the modal coordinates not directly measurable.
  • controller 25 provides to use a state estimator 26 .
  • the estimator 26 receives as input, from said sensors 31 , the measurements, indicated by the reference number 32 , and the known forces, indicated by the reference number 33 , actually acting on the arm 10 , and supplies as output the estimate of the modal coordinates in terms of estimated state 44 .
  • the estimator 26 also operates starting from the knowledge of the reduced modal model 27 .
  • the estimated measurements are then compared, in an adder 37 , with the real measurements 32 , then the estimate is corrected so that it converges on the real values.
  • the correction is made by the estimator 26 by multiplying the difference between measurements 32 and estimates 38 by a suitable set of gains 35 , for example obtained with the Kalman Filter.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • On-Site Construction Work That Accompanies The Preparation And Application Of Concrete (AREA)
  • Feedback Control In General (AREA)
  • Numerical Control (AREA)
US12/403,920 2008-03-17 2009-03-13 Method to control the vibrations in an articulated arm for pumping concrete, and relative device Active 2029-12-18 US8082083B2 (en)

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ITUD2008A0057 2008-03-17
ITUD2008A000057 2008-03-17
IT000057A ITUD20080057A1 (it) 2008-03-17 2008-03-17 Procedimento di controllo delle vibrazioni di un braccio articolato per il pompaggio di calcestruzzo, e relativo dispositivo

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EP (1) EP2103760B1 (fr)
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US20110179783A1 (en) * 2010-01-26 2011-07-28 Cifa Spa Device to actively control the vibrations of an articulated arm to pump concrete
US20110220228A1 (en) * 2010-03-12 2011-09-15 Cifa Spa Arm to distribute concrete and relative production method
US20110318157A1 (en) * 2009-03-06 2011-12-29 Komatsu Ltd. Construction Machine, Method for Controlling Construction Machine, and Program for Causing Computer to Execute the Method
US20160108936A1 (en) * 2013-05-31 2016-04-21 Meng (Rachel) Wang Hydraulic system and method for reducing boom bounce with counter-balance protection
US20160222989A1 (en) * 2013-08-30 2016-08-04 Eaton Corporation Control method and system for using a pair of independent hydraulic metering valves to reduce boom oscillations
US10316929B2 (en) 2013-11-14 2019-06-11 Eaton Intelligent Power Limited Control strategy for reducing boom oscillation
US10323663B2 (en) 2014-07-15 2019-06-18 Eaton Intelligent Power Limited Methods and apparatus to enable boom bounce reduction and prevent un-commanded motion in hydraulic systems
US10344783B2 (en) 2013-11-14 2019-07-09 Eaton Intelligent Power Limited Pilot control mechanism for boom bounce reduction
US11204048B2 (en) 2017-04-28 2021-12-21 Eaton Intelligent Power Limited System for damping mass-induced vibration in machines having hydraulically controlled booms or elongate members
US11209028B2 (en) * 2017-04-28 2021-12-28 Eaton Intelligent Power Limited System with motion sensors for damping mass-induced vibration in machines

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ITMI20120362A1 (it) * 2012-03-07 2013-09-08 Cifa Spa Procedimento per il controllo delle vibrazioni di un braccio articolato e relativo apparato
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Cited By (24)

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US20110318157A1 (en) * 2009-03-06 2011-12-29 Komatsu Ltd. Construction Machine, Method for Controlling Construction Machine, and Program for Causing Computer to Execute the Method
US9109345B2 (en) * 2009-03-06 2015-08-18 Komatsu Ltd. Construction machine, method for controlling construction machine, and program for causing computer to execute the method
US20110179783A1 (en) * 2010-01-26 2011-07-28 Cifa Spa Device to actively control the vibrations of an articulated arm to pump concrete
US8925310B2 (en) * 2010-01-26 2015-01-06 Cifa Spa Device to actively control the vibrations of an articulated arm to pump concrete
US20110220228A1 (en) * 2010-03-12 2011-09-15 Cifa Spa Arm to distribute concrete and relative production method
US8636030B2 (en) * 2010-03-12 2014-01-28 Cifa Spa Arm to distribute concrete and relative production method
US10502239B2 (en) * 2013-05-31 2019-12-10 Eaton Intelligent Power Limited Hydraulic system and method for reducing boom bounce with counter-balance protection
US20160108936A1 (en) * 2013-05-31 2016-04-21 Meng (Rachel) Wang Hydraulic system and method for reducing boom bounce with counter-balance protection
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EP2103760A2 (fr) 2009-09-23
CN101538941B (zh) 2012-11-07
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US20090229457A1 (en) 2009-09-17
EP2103760B1 (fr) 2017-09-20
CN101538941A (zh) 2009-09-23

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